Vehicle and method of controlling autonomous driving of vehicle by determining erroneous traffic light information

Abstract

An autonomous driving control method and apparatus of preventing accidents due to erroneous traffic light information during autonomous driving, may include determining an error of a traffic light by determining whether a first traffic light information item and a second traffic light information item that are acquired using different methods are different with respect to one traffic light, checking whether there is a nearby vehicle when determining the traffic light is erroneous, acquiring traffic light information from the nearby vehicle when there is the nearby vehicle, and controlling driving based on traffic light information acquired from the nearby vehicle.

What is claimed is: 
     
       1. A method of controlling autonomous driving of a subject vehicle, the method comprising:
 determining an error of a traffic light by determining whether a first traffic light information item and a second traffic light information item that are acquired using different methods are different with respect to one traffic light; 
 checking whether there is another vehicle adjacent to the subject vehicle upon determining that the traffic light is erroneous; 
 receiving traffic light information from the another vehicle when there is the another vehicle adjacent to the subject vehicle; controlling, by a controller, driving of the subject vehicle according to the traffic light information acquired from the another vehicle; 
 controlling driving of the subject vehicle using a preset driving method when there is no vehicle having no autonomous driving function; 
 controlling the subject vehicle to completely stop and proceed in order of arrival, when the error of the traffic light occurs in the another vehicle having autonomous driving function, wherein the method further includes: searching for a path in which the subject vehicle is configured for driving without the traffic light information when the another vehicle is not present; and 
 driving the subject vehicle according to a retrieved path. 
 
     
     
       2. The method of  claim 1 , wherein the controlling driving of the subject vehicle includes:
 checking whether the error of the traffic light also occurs in the another vehicle according to the traffic light information acquired from the another vehicle; and 
 driving the subject vehicle according to the traffic light information received from the another vehicle when the error of the traffic light does not occur in the another vehicle. 
 
     
     
       3. The method of  claim 2 , further including:
 checking a vehicle having no autonomous driving function and adjacent to the subject vehicle when the error of the traffic light occurs in the another vehicle; and 
 predicting the traffic light information according to a driving pattern of the vehicle having no autonomous driving function. 
 
     
     
       4. The method of  claim 3 , wherein the vehicle having no autonomous driving function includes a vehicle having no V2X communication function. 
     
     
       5. The method of  claim 1 , wherein the searching for the path includes:
 determining whether it is possible to change the path to at least one of paths for left turn with caution, U-turn, and right turn; 
 changing the path according to a determination result; and 
 searching for a path in which the subject vehicle is configured for driving to a destination without the traffic light information again. 
 
     
     
       6. The method of  claim 1 , further including:
 when the path in which the subject vehicle is configured for driving without the traffic light information is not searched, transferring driving responsibility to a driver of the subject vehicle or stopping the subject vehicle. 
 
     
     
       7. The method of  claim 1 ,
 wherein the first traffic light information item includes traffic light information recognized by a camera; and 
 wherein the second traffic light information item includes traffic light information received through V2X communication. 
 
     
     
       8. A non-transitory computer-readable recording medium having recorded thereon a program for executing the method of  claim 1 . 
     
     
       9. An apparatus of controlling autonomous driving of a subject vehicle, the apparatus comprising:
 a camera configured to acquire traffic light information; and 
 a controller in communication with infrastructure or another vehicle, the controller configured to acquire the traffic light information using a different method from the camera, 
 wherein the controller is further configured to determine an error of a traffic light by determining whether a first traffic light information item acquired by the camera and a second traffic light information item acquired by the controller in communication with the infrastructure or the another vehicle are different, and to acquire traffic light information from the another vehicle wherein the traffic light information from the another vehicle is the traffic light information that the another vehicle sees, and to control driving of the subject vehicle upon determining that the traffic light is erroneous, 
 wherein the controller is further configured to control driving of the subject vehicle using a preset driving method when there is no vehicle having no autonomous driving function and control the subject vehicle to completely stop and proceed in order of arrival, when the error of the traffic light occurs in the another vehicle having the autonomous driving function, and 
 wherein the controller is configured to control driving of the subject vehicle by searching for a path in which the subject vehicle is configured for driving without the traffic light information when the another vehicle is not present. 
 
     
     
       10. The apparatus of  claim 9 , wherein the controller is configured to check whether the error of the traffic light also occurs in the another vehicle according to the traffic light information acquired from the another vehicle, and controls driving of the subject vehicle according to the traffic light information received from the another vehicle when the error of the traffic light does not occur in the another vehicle. 
     
     
       11. The apparatus of  claim 10 , wherein, when the error of the traffic light occurs in the another vehicle, the controller is configured to check a vehicle having no autonomous driving function and controls driving of the subject vehicle according to driving pattern of the vehicle having no autonomous driving function. 
     
     
       12. The apparatus of  claim 11 , wherein the vehicle having no autonomous driving function includes a vehicle having no V2X communication function. 
     
     
       13. The apparatus of  claim 9 , wherein the controller is configured to control driving the subject vehicle by changing the path to at least one of paths for left turn with caution, U-turn, and right turn without the traffic light information and then searching for a path in which the subject vehicle is configured for driving to a destination without the traffic light information again. 
     
     
       14. The apparatus of  claim 9 , wherein, when the path in which the subject vehicle is configured for driving without the traffic light information is not searched, the controller is configured to transfer driving responsibility to a driver of the subject vehicle or to stop the subject vehicle. 
     
     
       15. The apparatus of  claim 9 ,
 wherein the controller in communication with the infrastructure or the another vehicle includes V2X.